Design and Fabrication of a Bipedal Robot using Serial-Parallel Hybrid Leg Mechanism
In this paper, we present the design and performance evaluation of a bipedal robot that utilizes the Hybrid Leg mechanism. It is a leg mechanism that achieves 6 DOF with a combined structure of serial and parallel mechanism. It is designed to have a light structural inertia and large workspace for agile bipedal locomotion. A new version of Hybrid Leg is fabricated with carbon fiber tubes and bearings to improve its structural rigidity and accuracy while supporting its weight. A pair of Hybrid Legs is assembled together for bipedal locomotion. In the assembly, we adopt a pelvis structure with an yaw angle offset to enlarge the feet workspace, inspired by the toe-out angle of the human feet. The workspace and range of velocity are presented in simulation and verified with hardware experiments. We also demonstrate a simple forward walking motion with the developed robot.
Link to publication page:
https://www.disneyresearch.com/publication/design-and-fabrication-of-a-bipedal-robot-using-serial-parallel-hybrid-leg-mechanism/
Видео Design and Fabrication of a Bipedal Robot using Serial-Parallel Hybrid Leg Mechanism канала DisneyResearchHub
Link to publication page:
https://www.disneyresearch.com/publication/design-and-fabrication-of-a-bipedal-robot-using-serial-parallel-hybrid-leg-mechanism/
Видео Design and Fabrication of a Bipedal Robot using Serial-Parallel Hybrid Leg Mechanism канала DisneyResearchHub
Показать
Комментарии отсутствуют
Информация о видео
Другие видео канала
A derivative of Strandbeest - Humanoid version人間のような歩き方をするロボットⅡ(Biped robot walks just like a human being Ⅱ.)Computational Design of Mechanical CharactersDEMO: NABi and ALPHRED (Dennis Hong, UCLA) | TC Sessions Robotics 2018A Versatile Inverse Kinematics Formulation for Retargeting Motions onto Robots with Kinematic LoopsHybrid leg for Bipedal RobotNABiRoS: Non Anthropomorphic Bipedal Robotic SystemBoston Dynamics' amazing robots Atlas and HandleLynxmotion 2 Legs Robot Walking for the first time.人間のような自然な歩き方をするロボット(Biped robot walks just like a human being.)Backdrivable Kinematically Redundant (6+3)-DOF Hybrid Parallel Robot –Part 2:Human–Robot InteractionMechanical Man WalkingHello Robot x7 : BB-8, RC Robot Fight, Biped RobotsAdvanced Humanoid Robot Design Part 4Strandbeest simulation (Jansen's Linkage)[SII 2022]Reinforcement Learning based Hierarchical Control for a Wheeled Bipedal RobotDevelopment of Robot Legs Inspired by Bi-articular Muscle-tendon Complex of CatsEASY creature PUPPET eye mechanismQuadruped robot with SG90 servos inspired by Stanford Puppper